Determine all the instantaneous centres of the mechanism shown in Fig.2.62(a). Calculate the velocities of the slider \(E\) and the joints \(B\) and \(D\) when the crank \(O A\) is rotating at \(120 \mathrm{rpm}\). Also find \(\omega_{A B}, \omega_{B D}\), and \(\omega_{D E} . O A=200 \mathrm{~mm}, A B=500 \mathrm{~mm}, B C=300 \mathrm{~mm}, B D=600 \mathrm{~mm}\), and \(D E=450 \mathrm{~mm}\).

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15. 45 C14 16 at co D 46 16 at co E 56: 34 450 B 36 35 24 12 26 23 2 60 400 350 (a) Locating instantaneous centres (b) Circle diagram